/**
  ******************************************************************************
  * @file    SysTick/SysTick_Example/stm32f4xx_it.c 
  * @author  MCD Application Team
  * @version V1.0.1
  * @date    13-April-2012
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and 
  *          peripherals interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
  *
  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
  * You may not use this file except in compliance with the License.
  * You may obtain a copy of the License at:
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
  * Unless required by applicable law or agreed to in writing, software 
  * distributed under the License is distributed on an "AS IS" BASIS, 
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_it.h"
#include "delay.h"
#include "test.h"

extern USARTDATA   Uart1;
extern unsigned char USART1_RXBuffer[200];

extern unsigned char  startflag;
extern unsigned short Speed;
extern unsigned char  Flag_1s;
extern unsigned char Int_flag;
unsigned int count = 0;

/** @addtogroup STM32F4xx_StdPeriph_Examples
  * @{
  */

/** @addtogroup SysTick_Example
  * @{
  */ 

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M4 Processor Exceptions Handlers                         */
/******************************************************************************/

/**
  * @brief   This function handles NMI exception.
  * @param  None
  * @retval None
  */
void NMI_Handler(void)
{
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Memory Manage exception.
  * @param  None
  * @retval None
  */
void MemManage_Handler(void)
{
  /* Go to infinite loop when Memory Manage exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Bus Fault exception.
  * @param  None
  * @retval None
  */
void BusFault_Handler(void)
{
  /* Go to infinite loop when Bus Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Usage Fault exception.
  * @param  None
  * @retval None
  */
void UsageFault_Handler(void)
{
  /* Go to infinite loop when Usage Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
void SVC_Handler(void)
{
}

/**
  * @brief  This function handles Debug Monitor exception.
  * @param  None
  * @retval None
  */
void DebugMon_Handler(void)
{
}

/**
  * @brief  This function handles PendSVC exception.
  * @param  None
  * @retval None
  */
void PendSV_Handler(void)
{
}

/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
void SysTick_Handler(void)
{
    static unsigned int cnt;
    
    if (startflag == 1)
    {
        DCMOTOR_A_H;
        DCMOTOR_B_L;
        cnt++;
        
        if (cnt == 100)
        {
            DCMOTOR_B_H;
        }
        
        else if(cnt == 1000)
        {
            cnt = 0;
            Flag_1s = 1;
            Speed = count;
            count = 0;
        }
    }
    
    //  USART1����
	if (0 != Uart1.Time)
	{  
		Uart1.Time--;
        
		if ( Uart1.Time == 0 )
		{
			Uart1.ReceiveFinish = 1;
		}
	}
    
    TimingDelay_Decrement();
}

//  7279�ж�
void EXTI0_IRQHandler(void)
{
    if(EXTI_GetITStatus(EXTI_Line0) != RESET)
    {
        Int_flag = 1;
        EXTI_ClearITPendingBit(EXTI_Line0);
    }
}

//  ֱ����������жϳ���
void EXTI4_IRQHandler(void)
{
    if(EXTI_GetITStatus(EXTI_Line4) != RESET)
    {
        count++;
        EXTI_ClearITPendingBit(EXTI_Line4);
    }
}


//  USART1_IRQHandler
void USART1_IRQHandler(void)
{		    
	unsigned char temp = 0;
    
    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)              
	{	
        temp = USART_ReceiveData(USART1);
        
        USART1_RXBuffer[Uart1.RXlenth++] = temp;   
        
		Uart1.Time = 3;
        
        USART_ClearITPendingBit(USART1,USART_IT_RXNE);
	}
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
